#define right_Uturn OnFwd(OUT_A);OnRev(OUT_C);
 #define right_turn OnFwd(OUT_A);Off(OUT_C);
 #define left_Uturn OnFwd(OUT_C);OnRev(OUT_A);
 #define left_turn OnFwd(OUT_C);Off(OUT_A);
 #define Brightness 47
 #define go(t) OnFwd(OUT_AC);Wait(t);Off(OUT_AC);
 #define right_through left_Uturn;Wait(20);go(30);
 #define left_through right_Uturn;Wait(25);go(30);
 #define P SetPower(OUT_AC,5);
 sub right_Line()
Ìܼ¡
#contents
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 #define right_Uturn OnFwd(OUT_A);OnRev(OUT_C);//±¦Àû²ó
 #define right_turn OnFwd(OUT_A);Off(OUT_C);//±¦²óž
 #define left_Uturn OnFwd(OUT_C);OnRev(OUT_A);//º¸Àû²ó
 #define left_turn OnFwd(OUT_C);Off(OUT_A);//º¸²óž
 #define Brightness 47//ÌÀ¤ë¤µ
 #define go(t) OnFwd(OUT_AC);Wait(t);Off(OUT_AC);//»þ´Ö»ØÄê²Äǽ¤ÊÁ°¿Ê
 #define back(t) OnRev(OUT_AC);Wait(t);Off(OUT_AC);//»þ´Ö»ØÄê²Äǽ¤Ê¸å¿Ê
 #define right_through left_Uturn;Wait(20);go(30);//±¦Â¦¥é¥¤¥ó¥È¥ì¡¼¥¹»þ¤Î¸òº¹ÅÀľ¿Ê
 #define left_through right_Uturn;Wait(25);go(30);//º¸Â¦¥é¥¤¥ó¥È¥ì¡¼¥¹»þ¤Î¸òº¹ÅÀľ¿Ê
**¥µ¥Ö¥ë¡¼¥Á¥ó [#oa7a0f03]
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#ref(2017b/Member/hata/Mission2/¥¹¥Ú¡¼¥¹.jpg,1%,)
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***±¦Â¦¥é¥¤¥ó¥È¥ì¡¼¥¹ [#rb19cf47]
 sub right_Line()//±¦Â¦¥é¥¤¥ó¥È¥ì¡¼¥¹
 {
     SetSensor(SENSOR_2,SENSOR_LIGHT);
     SetSensor(SENSOR_2,SENSOR_LIGHT);//ü»Ò2¤Ë¸÷¥»¥ó¥µ¡¼¤ò¥»¥Ã¥È
     ClearTimer(0);
     while(FastTimer(0)<=26)
     while(FastTimer(0)<=26)//0.26ÉðÊÆâ¤Ï·«¤êÊÖ¤·¡¢0.26ÉäòĶ¤¨¤¿¤é¸òº¹ÅÀ¤ÈȽÃÇ
      {
         if(SENSOR_2>Brightness+5)    
         if(SENSOR_2>Brightness+5)//¥»¥ó¥µ¡¼¤ÎÃͤ¬ÌÀ¤ë¤µ¤ÎïçÃÍ+5°Ê¾å¤Î»þº¸Àû²ó¤ò¹Ô¤¦
          {
             left_Uturn;
             ClearTimer(0);
         }
         else if(SENSOR_2>Brightness+4)    
         else if(SENSOR_2>Brightness+4)//¥»¥ó¥µ¡¼¤ÎÃͤ¬ÌÀ¤ë¤µ¤ÎïçÃÍ+4°Ê¾å¤Î»þº¸ÀÞ¤ò¹Ô¤¦
        {
             left_turn;
             ClearTimer(0);
         }
         else if(SENSOR_2>Brightness)   
         else if(SENSOR_2>Brightness)//¥»¥ó¥µ¡¼¤ÎÃͤ¬ÌÀ¤ë¤µ¤ÎïçÃͰʾå¤Î»þľ¿Ê¤ò¹Ô¤¦
         {
             P;
             OnFwd(OUT_AC);
             ClearTimer(0);
         }
         else if(SENSOR_2>Brightness-4)    
         else if(SENSOR_2>Brightness-4)//¥»¥ó¥µ¡¼¤ÎÃͤ¬ÌÀ¤ë¤µ¤ÎïçÃÍ-4°Ê¾å¤Î»þ±¦ÀÞ¤ò¹Ô¤¦
         {
             right_turn;
             ClearTimer(0);
         }
         else    
         else//¾åµ­¤Î¤¤¤º¤ì¤«¤Î¾ò·ï¤âËþ¤¿¤µ¤Ê¤«¤Ã¤¿»þ±¦Àû²ó¤ò¹Ô¤¦
         {
             right_Uturn;
         }
     }
     
     Off(OUT_AC);
 }
 sub right_Linehalf()
***û¤¤±¦Â¦¥é¥¤¥ó¥È¥ì¡¼¥¹ [#f0b497b2]
 sub right_Linehalf()//±¦Â¦¥é¥¤¥ó¥È¥ì¡¼¥¹Ã»
 {
     SetSensor(SENSOR_2,SENSOR_LIGHT);
     SetSensor(SENSOR_2,SENSOR_LIGHT);//ü»Ò2¤Ë¸÷¥»¥ó¥µ¡¼¤ò¥»¥Ã¥È
     ClearTimer(0);
     while(FastTimer(0)<=18)
     while(FastTimer(0)<=17)//0.17ÉðÊÆâ¤Ï·«¤êÊÖ¤·¡¢0.17ÉäòĶ¤¨¤¿¤é¸òº¹ÅÀ¤ÈȽÃÇ
     {
         if(SENSOR_2>Brightness+5)    
         if(SENSOR_2>Brightness+5)//¥»¥ó¥µ¡¼¤ÎÃͤ¬ÌÀ¤ë¤µ¤ÎïçÃÍ+5°Ê¾å¤Î»þº¸Àû²ó¤ò¹Ô¤¦
         {
             left_Uturn;
             ClearTimer(0);
         }
         else if(SENSOR_2>Brightness+4)    
         else if(SENSOR_2>Brightness+4)//¥»¥ó¥µ¡¼¤ÎÃͤ¬ÌÀ¤ë¤µ¤ÎïçÃÍ+4°Ê¾å¤Î»þº¸ÀÞ¤ò¹Ô¤¦
         {
             left_turn;
             ClearTimer(0);
         }
         else if(SENSOR_2>Brightness)   
         else if(SENSOR_2>Brightness)//¥»¥ó¥µ¡¼¤ÎÃͤ¬ÌÀ¤ë¤µ¤ÎïçÃͰʾå¤Î»þľ¿Ê¤ò¹Ô¤¦
         {
             P;
             OnFwd(OUT_AC);
             ClearTimer(0);
         }
         else if(SENSOR_2>Brightness-4)    
         else if(SENSOR_2>Brightness-4)//¥»¥ó¥µ¡¼¤ÎÃͤ¬ÌÀ¤ë¤µ¤ÎïçÃÍ-4°Ê¾å¤Î»þ±¦ÀÞ¤ò¹Ô¤¦
         {
             right_turn;
             ClearTimer(0);
         }
         else
         else//¾åµ­¤Î¤¤¤º¤ì¤«¤Î¾ò·ï¤âËþ¤¿¤µ¤Ê¤«¤Ã¤¿»þ±¦Àû²ó¤ò¹Ô¤¦
         {
             right_Uturn;
         }
     }
 }
 sub left_Line()
***º¸Â¦¥é¥¤¥ó¥È¥ì¡¼¥¹ [#h64146a0]
 sub left_Line()//º¸Â¦¥é¥¤¥ó¥È¥ì¡¼¥¹
 {
     SetSensor(SENSOR_2,SENSOR_LIGHT);
     SetSensor(SENSOR_2,SENSOR_LIGHT);//ü»Ò2¤Ë¸÷¥»¥ó¥µ¡¼¤ò¥»¥Ã¥È
     ClearTimer(0);
     while(FastTimer(0)<=26)
     {
         if(SENSOR_2>Brightness+5)    
         if(SENSOR_2>Brightness+5)//¥»¥ó¥µ¡¼¤ÎÃͤ¬ÌÀ¤ë¤µ¤ÎïçÃÍ+5°Ê¾å¤Î»þ±¦Àû²ó¤ò¹Ô¤¦
         {
             right_Uturn;
             ClearTimer(0);
         }
         else if(SENSOR_2>Brightness+4)    
         else if(SENSOR_2>Brightness+4)//¥»¥ó¥µ¡¼¤ÎÃͤ¬ÌÀ¤ë¤µ¤ÎïçÃÍ+4°Ê¾å¤Î»þ±¦ÀÞ¤ò¹Ô¤¦
         {
             right_turn;
             ClearTimer(0);
         }
         else if(SENSOR_2>Brightness)   
         else if(SENSOR_2>Brightness)//¥»¥ó¥µ¡¼¤ÎÃͤ¬ÌÀ¤ë¤µ¤ÎïçÃͰʾå¤Î»þľ¿Ê¤ò¹Ô¤¦
         {
             P;
             OnFwd(OUT_AC);
             ClearTimer(0);
         }
         else if(SENSOR_2>Brightness-4)    
         else if(SENSOR_2>Brightness-4)//¥»¥ó¥µ¡¼¤ÎÃͤ¬ÌÀ¤ë¤µ¤ÎïçÃÍ-4°Ê¾å¤Î»þº¸ÀÞ¤ò¹Ô¤¦
         {
             left_turn;
             ClearTimer(0);
         }
         else    
         else//¾åµ­¤Î¤¤¤º¤ì¤«¤Î¾ò·ï¤âËþ¤¿¤µ¤Ê¤«¤Ã¤¿»þº¸Àû²ó¤ò¹Ô¤¦
         {
             left_Uturn;
         }
     }
     Off(OUT_AC);
 }
 sub left_Linehalf()
***û¤¤º¸Â¦¥é¥¤¥ó¥È¥ì¡¼¥¹ [#peb890d5]
 sub left_Linehalf()//º¸Â¦¥é¥¤¥ó¥È¥ì¡¼¥¹Ã»
 {
     SetSensor(SENSOR_2,SENSOR_LIGHT);
     SetSensor(SENSOR_2,SENSOR_LIGHT);//ü»Ò2¤Ë¸÷¥»¥ó¥µ¡¼¤ò¥»¥Ã¥È
     ClearTimer(0);
     while(FastTimer(0)<=17)
     {
         if(SENSOR_2>Brightness+5)    
         if(SENSOR_2>Brightness+5)//¥»¥ó¥µ¡¼¤ÎÃͤ¬ÌÀ¤ë¤µ¤ÎïçÃÍ+5°Ê¾å¤Î»þ±¦Àû²ó¤ò¹Ô¤¦
         {
             right_Uturn;
             ClearTimer(0);
         }
          else if(SENSOR_2>Brightness+4)    
          else if(SENSOR_2>Brightness+4)//¥»¥ó¥µ¡¼¤ÎÃͤ¬ÌÀ¤ë¤µ¤ÎïçÃÍ+4°Ê¾å¤Î»þ±¦ÀÞ¤ò¹Ô¤¦
         {
             right_turn;
             ClearTimer(0);
         }
         else if(SENSOR_2>Brightness)   
         else if(SENSOR_2>Brightness)//¥»¥ó¥µ¡¼¤ÎÃͤ¬ÌÀ¤ë¤µ¤ÎïçÃͰʾå¤Î»þľ¿Ê¤ò¹Ô¤¦
         {
             P;
             OnFwd(OUT_AC);
             ClearTimer(0);
         }
         else if(SENSOR_2>Brightness-4)    
         else if(SENSOR_2>Brightness-4)//¥»¥ó¥µ¡¼¤ÎÃͤ¬ÌÀ¤ë¤µ¤ÎïçÃÍ-4°Ê¾å¤Î»þº¸ÀÞ¤ò¹Ô¤¦
         {
             left_turn;
             ClearTimer(0);
         }
         else    
         else//¾åµ­¤Î¤¤¤º¤ì¤«¤Î¾ò·ï¤âËþ¤¿¤µ¤Ê¤«¤Ã¤¿»þº¸Àû²ó¤ò¹Ô¤¦
         {
             left_Uturn;
         }
     }
 }
***»æ¥³¥Ã¥×¤ò¼è¤ë [#ib881c90]
 sub cup_get()//»æ¥³¥Ã¥×¤ò¼è¤ë
 go(130);//P¤«¤é»æ¥³¥Ã¥×¤ò¼è¤ê¤Ë¹Ô¤¯¤¿¤á¤Î°ÜÆ°­¡
 left_Uturn;//P¤«¤é»æ¥³¥Ã¥×¤ò¼è¤ê¤Ë¹Ô¤¯¤¿¤á¤Î°ÜÆ°­¢
 Wait(65);
 OnRev(OUT_AC);//P¤«¤é»æ¥³¥Ã¥×¤ò¼è¤ê¤Ë¹Ô¤¯¤¿¤á¤Î°ÜÆ°­£
 Wait(80);
 Off(OUT_AC);
 OnFwd(OUT_B);//¥¢¡¼¥à¤ò²¼¤·¡¢»æ¥³¥Ã¥×¤ò¼è¤ë
 Wait(30);
 Off(OUT_B);
**¥×¥í¥°¥é¥à¤Î¥á¥¤¥ó [#wce6c317]
 task main()
 {
 right_Line();
 Wait(100);
 right_through;
 right_Line();//A-B´Ö
 Wait(100);//°ì»þÄä»ß
 right_through;//¸òº¹ÅÀÄ̲á
 int A;
 for (A=1; A<=2; A++){
 for (A=1; A<=2; A++)//B-C´Ö¤ª¤è¤ÓC-D´Ö
 {
     right_Line();
     Wait(100);
 }
 right_through;
 right_through;//¸òº¹ÅÀÄ̲á
 ClearTimer(1);
 while(FastTimer(1)<=820)
 while(FastTimer(1)<=850)//E-F´Ö¤Î2¤ÄÌܤεޤʥ«¡¼¥Ö¤Þ¤Ç
 {    
     right_Line();
 } 
 Off(OUT_AC);
 Wait(100);
 left_turn;
 left_turn;//±¦Â¦¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î°ÌÃÖ¤«¤éº¸Â¦¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î°ÌÃ֤˰ÜÆ°
 Wait(30);
 left_Linehalf();
 Off(OUT_AC);
 left_Linehalf();//E-F´Ö¤Î2¤ÄÌܤεޤʥ«¡¼¥Ö¤«¤éR¤Þ¤Ç
 Off(OUT_AC);//°ì»þÄä»ß
 Wait(100);
 left_Uturn;
 left_Uturn;//°ì»þÄä»ß¤·¤¿°ÌÃÖ¤«¤é±ß¤ÎÉôʬ¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹Æó°Ü¤ë¤¿¤á¤ÎÄ´À°­¡
 Wait(30);
 go(30);
 left_Linehalf();
 Off(OUT_AC);
 go(30);//°ì»þÄä»ß¤·¤¿°ÌÃÖ¤«¤é±ß¤ÎÉôʬ¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹Æó°Ü¤ë¤¿¤á¤ÎÄ´À°­¢
 left_Linehalf();//R-P´Ö
 Off(OUT_AC);//°ì»þÄä»ß
 Wait(100);
 go(130);
 left_Uturn;
 Wait(65);
 OnRev(OUT_AC);
 Wait(80);
 Off(OUT_AC);
 OnFwd(OUT_B);
 Wait(30);
 Off(OUT_B);
 left_Line();[[2017b/Member]]
 
 Off(OUT_AC);
 cup_get();//»æ¥³¥Ã¥×¤ò¼è¤ë
 left_Line();//»æ¥³¥Ã¥×¤ò¼è¤Ã¤¿°ÌÃÖ¤«¤éÌá¤ê¤Ä¤ÄQ-S´Ö
 Off(OUT_AC);//°ì»þÄä»ß
 Wait(100);
 left_through;
 right_Uturn;
 left_through;//¸òº¹ÅÀÄ̲á
 right_Uturn;//º¸Â¦¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î°ÌÃÖ¤«¤é±¦Â¦¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î°ÌÃ֤˰ÜÆ°
 Wait(30);
 right_Linehalf();
 Off(OUT_AC);
 right_Linehalf();//S¤«¤é±ß¤ò°ì¼þ¤·¤ÆºÆ¤ÓS¤ËÌá¤Ã¤Æ¤¯¤ë¤Þ¤Ç
 Off(OUT_AC);//°ì»þÄä»ß
 Wait(100);
 left_Uturn;
 left_Uturn;//±¦Â¦¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î°ÌÃÖ¤«¤éº¸Â¦¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î°ÌÃ֤˰ÜÆ°­¡
 Wait(50);
 go(40);
 left_Line();
 go(40);//±¦Â¦¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î°ÌÃÖ¤«¤éº¸Â¦¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î°ÌÃ֤˰ÜÆ°­¢
 left_Line();//S-F´Ö
 Off(OUT_AC);
 OnRev(OUT_B);
 OnRev(OUT_B);//»æ¥³¥Ã¥×¤òÃÖ¤¯¤¿¤á¤Ë¥¢¡¼¥à¤ò¾å¤²¤ë
 Wait(30);
 Off(OUT_B);
 Wait(70);
 left_Uturn;
 Wait(100);//°ì»þÄä»ß
 left_Uturn;//º¸Â¦¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î°ÌÃÖ¤«¤é±¦Â¦¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î°ÌÃ֤˰ÜÆ°­¡
 Wait(40);
 go(40);
 right_Line();
 right_Uturn;
 go(40);//º¸Â¦¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î°ÌÃÖ¤«¤é±¦Â¦¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î°ÌÃ֤˰ÜÆ°­¢
 right_Line();//F-C´Ö
 right_Uturn;//C¤«¤éD¤ÎÊý¸þ¤Ø¸þ¤¯
 Wait(60);
 go(150); 
 go(150);//C-D´Ö
 }
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